TY - GEN
T1 - Fast-Response FCS-MPC for Coordinated Control of Permanent Magnet Direct-Drive Motors in Humanoid Robotic Arm Shoulders
AU - Gong, Chao
AU - Seibel, Brian
AU - Xue, Cheng
AU - Zhang, Xiaodong
AU - Han, Yaofei
AU - Li, Yunwei
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper proposes a new finite control set model predictive control (FCS-MPC) strategy to improve coordination of the permanent magnet direct-drive motors (PMDDM) in humanoid robotic arm shoulders. First, the predicting plant model (PPM) used for prediction is established. Considering that the speed property is not directly related to the control voltages, the speed prediction model is established based on integral approximation. Second, an on-demand-mode evaluation scheme based on the concept of "priority"is developed to establish the cost function. Unlike traditional PI-based methods, the proposed FCS-MPC method incorporates both speed and current into one regulator. This can reduce the number of control loops so as to improve the response speed of the whole system. Finally, comparative experiment is conducted on a three-phase PMDDMs drive to validate the proposed FCS-MPC strategy.
AB - This paper proposes a new finite control set model predictive control (FCS-MPC) strategy to improve coordination of the permanent magnet direct-drive motors (PMDDM) in humanoid robotic arm shoulders. First, the predicting plant model (PPM) used for prediction is established. Considering that the speed property is not directly related to the control voltages, the speed prediction model is established based on integral approximation. Second, an on-demand-mode evaluation scheme based on the concept of "priority"is developed to establish the cost function. Unlike traditional PI-based methods, the proposed FCS-MPC method incorporates both speed and current into one regulator. This can reduce the number of control loops so as to improve the response speed of the whole system. Finally, comparative experiment is conducted on a three-phase PMDDMs drive to validate the proposed FCS-MPC strategy.
KW - cost function
KW - dynamics
KW - model predictive control
KW - multi-objective regulator
KW - Permanent magnet motor
UR - http://www.scopus.com/inward/record.url?scp=85192730901&partnerID=8YFLogxK
U2 - 10.1109/APEC48139.2024.10509178
DO - 10.1109/APEC48139.2024.10509178
M3 - 会议稿件
AN - SCOPUS:85192730901
T3 - Conference Proceedings - IEEE Applied Power Electronics Conference and Exposition - APEC
SP - 2332
EP - 2336
BT - 2024 IEEE Applied Power Electronics Conference and Exposition, APEC 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 39th Annual IEEE Applied Power Electronics Conference and Exposition, APEC 2024
Y2 - 25 February 2024 through 29 February 2024
ER -